CN210999500U - Double-end cnc engraving and milling machine externally-mounted manipulator - Google Patents
Double-end cnc engraving and milling machine externally-mounted manipulator Download PDFInfo
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- CN210999500U CN210999500U CN201921586439.1U CN201921586439U CN210999500U CN 210999500 U CN210999500 U CN 210999500U CN 201921586439 U CN201921586439 U CN 201921586439U CN 210999500 U CN210999500 U CN 210999500U
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Abstract
The utility model discloses an external mechanical arm of double-end engraving and milling machine, which is characterized in that the taking and placing mechanism is a double-working-surface taking and placing mechanism, which comprises a taking surface and a receiving surface, wherein the taking surface and the receiving surface are both provided with a plurality of vacuum suckers; the positioning mechanism comprises a positioning platform, a sliding positioning seat, a reference block, a positioning cylinder and a spring positioning block; the positioning cylinder drives the sliding positioning seat to move forward or backward so that the spring positioning block is close to and aligned with the reference block, the sliding positioning seats are respectively arranged on two adjacent and vertical side edges of the positioning platform, and the reference blocks are respectively arranged on the other two adjacent and vertical side edges of the positioning platform; each sliding positioning seat corresponds to one positioning cylinder, and each sliding positioning seat is connected with the output end of the corresponding positioning cylinder; wherein, the positioning platform is provided with an upward bulge used for providing a bearing for the article to be processed and keeping a fixture horizontally placed, and the fixture is provided with a plurality of soft particles.
Description
Technical Field
The utility model relates to a manipulator technical field, concretely relates to double-end cnc engraving and milling machine hangs manipulator outward.
Background
As is well known, the glass applied to electronic products such as screens or back shells has the characteristics of high hardness, thin body, light weight and small area, and due to the particularity of the application field, the production of the glass often needs rapid and batch fine processing, so that the use of the engraving and milling machine cannot be avoided.
The CNC engraving and milling machine is a kind of numerical control machine tool, because it has the stable and reliable, processing quality is good, efficient, easy operation and maintenance advantage such as convenient that move for it can be used to the screen of electronic product or glass on the dorsal scale and process.
Among them, in the production process of the existing cnc engraving and milling machine, there are many steps in which the carrying needs to be accomplished manually. In addition, many engraving and milling machines are provided with a positioning mechanism at a fixed position in a workbench, then a vacuum chuck is used for sucking glass, and then the vacuum chuck moves to the positioning mechanism for positioning so as to perform the following process, for example, the positioned glass is accurately placed in a subsequent vacuum adsorption jig, but the distance from the vacuum chuck moving to the positioning mechanism is large, so that the time is greatly wasted, and the plane area of the workbench is occupied by the position of the positioning mechanism.
At present, prior art document 1-CN 203062497U-automated manipulator of a double-station engraving and milling machine discloses an automated manipulator of a double-station engraving and milling machine, which comprises a worktable surface close to and installed on the double-station engraving and milling machine, the automated manipulator comprises an X-axis lead screw module capable of driving an object to slide along an X axis in a reciprocating manner, a Z-axis lead screw module capable of driving the object to slide along a Z axis in a reciprocating manner, a Y-axis pneumatic module capable of driving the object to slide along a Y axis in a reciprocating manner, an automatic positioning module capable of positioning, fixing and releasing a glass material, a material taking manipulator capable of automatically taking and placing the glass material, and a material placing module capable of placing the glass material.
Document 2-CN 204055113U-glass finishing impression machine with manipulator, including the finishing impression machine, be provided with the finishing impression platform that is used for fixed glass sheet in the finishing impression machine, the top of finishing impression platform is provided with the finishing impression arm, and the finishing impression machine still is provided with the transmission that is used for driving the finishing impression arm to carry out the finishing impression work, and the periphery of finishing impression machine is provided with the manipulator that is used for carrying out material loading, location and unloading to glass sheet.
Document 3-CN 205254989U-a manipulator of a glass engraving and milling machine, which includes an X-axis motion system, a Y-axis motion system, a Z-axis motion system and a front end of the manipulator, wherein the Z-axis motion system is installed on the X-axis motion system; the Y-axis motion system comprises a feeding cylinder arranged along the Y-axis direction, and the feeding cylinder is arranged on the Z-axis motion system; the front end of the manipulator is provided with a sucker which is arranged at the front end of a piston rod of the feeding cylinder. The sucking disc comprises a suction nozzle, a rotary cylinder and an air blowing nozzle, wherein the air blowing nozzle is arranged above the suction nozzle, and an air outlet of the air blowing nozzle faces towards the front lower part; the suction nozzle is driven by the rotary cylinder to rotate for 90 degrees.
Document 4-CN 108859542A-a multi-station full-automatic numerical control engraving and milling machine for implementing the method, which includes an engraving and milling machine, a material taking manipulator, a positioning manipulator, an engraving and milling machine workbench and a processing jig arranged on the engraving and milling machine workbench; the material taking manipulator comprises a horizontal moving shaft of the material taking manipulator, a vertical moving shaft of the material taking manipulator, and a material taking assembly, wherein the vertical moving shaft of the material taking manipulator is arranged on the horizontal moving shaft of the material taking manipulator; the positioning manipulator comprises a vertical movement shaft of the positioning manipulator and a shaping positioning device arranged on the vertical movement shaft of the positioning manipulator.
However, the technical scheme disclosed above is not perfect, and firstly, because the structural design is complex and the number of parts is too many, the operation process of the manipulator is complicated and not smooth, and the feeding and discharging time is too long; secondly, a positioning bracket of the external mechanical hand for the glass finishing carving machine is positioned by a fixed block made of metal or hard material, when glass is required to be positioned, the fixed block made of metal or hard material is positioned to draw glass close and align the glass, the glass is damaged due to hard impact, and the glass cannot be drawn close and aligned and positioned neatly due to the defects of the glass after being damaged by impact, so that the subsequent work is influenced; and third, no tool (platform) for placing/positioning glass is provided with colloidal particles for supporting glass, reducing the risk of scratching the surface of the glass and positioning the scratching risk in the approaching process. Fourth, cnc engraving and milling machine board and manipulator track do not design the breakwater with the material frame, prevent that liquid from permeating track and material frame in the equipment processing, reduce the equipment risk.
In view of the above, a technical problem to be solved by those skilled in the art is urgently needed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a double-end cnc engraving and milling machine hangs manipulator outward, further improve and get the efficiency of material receipt, rigid impact glass causes the glass to damage when reducing the location, and because of the defect that appears after glass is damaged by the impact, and can't neatly draw close the alignment location, influence follow-up work, reduce and draw the damage glass surface risk, and the location draws the damage risk of process, and add the breakwater on the board, and add the breakwater in material frame position, through increasing the breakwater, prevent that liquid from permeating to track and material frame in the equipment processing, reduce the equipment risk.
In order to achieve the above object, the utility model adopts the following technical scheme:
the utility model provides an outer string manipulator of double-end cnc engraving and milling machine, locates on the workstation of cnc engraving and milling machine, outer string manipulator includes:
the X-axis linear sliding frame is arranged on the workbench in a sliding manner;
the X-axis driver is connected with the X-axis linear sliding frame and the workbench and drives the X-axis linear sliding frame to slide;
the Z-axis linear sliding frame is arranged on the X-axis linear sliding frame in a sliding manner;
the Z-axis driver is connected with the Z-axis linear sliding frame and the X-axis linear sliding frame and drives the Z-axis linear sliding frame to slide;
the Y-axis linear sliding frame is arranged on the Z-axis linear sliding frame in a sliding manner;
the Y-axis driver is connected with the Y-axis linear sliding frame and the Z-axis linear sliding frame and drives the Y-axis linear sliding frame to slide;
the pick-and-place mechanism is arranged on the Y-axis linear sliding frame;
the turnover seat is pivoted with the Z-axis linear sliding frame by virtue of a pivot shaft and at least has a positioning position and an avoiding position relative to the Z-axis linear sliding frame;
the overturning driver is arranged on the Z-axis linear sliding frame and drives the overturning seat to switch between a positioning position and an avoiding position;
the positioning mechanism is arranged on the overturning seat and switches between a positioning position and an avoiding position along with the overturning seat, and the positioning mechanism is positioned below the pick-and-place mechanism correspondingly when positioned at the positioning position;
the device is characterized in that the picking and placing mechanism is a double-working-surface picking and placing mechanism and comprises a picking surface and a receiving surface, wherein the picking surface and the receiving surface are both provided with a plurality of vacuum suckers; and
the positioning mechanism comprises a positioning platform, a sliding positioning seat, a reference block, a positioning cylinder and a spring positioning block; the positioning cylinder drives the sliding positioning seat to move forward or backward so that the spring positioning block is close to and aligned with the reference block, the sliding positioning seats are respectively arranged on two adjacent and vertical side edges of the positioning platform, and the reference blocks are respectively arranged on the other two adjacent and vertical side edges of the positioning platform; each sliding positioning seat corresponds to one positioning cylinder, and each sliding positioning seat is connected with the output end of the corresponding positioning cylinder; wherein, the positioning platform is provided with an upward bulge used for providing a bearing for the article to be processed and keeping a fixture horizontally placed, and the fixture is provided with a plurality of soft particles.
Further, the pick and place mechanism comprises:
the taking, placing and overturning driver is mutually connected with a gear on a driven shaft penetrating through the inside of the fixed seat through a gear on an output shaft of the taking, placing and overturning driver, and the assembly connected to the driven shaft is overturned under the driving of the taking, placing and overturning driver;
the fixing seat connecting plate is arranged on the fixing seat and is also connected with the Y-axis connecting plate;
the Y-axis connecting plate is arranged on the Y-axis linear sliding frame;
the vacuum plate is arranged on one end, far away from the taking, placing and overturning driver, of the driven shaft, and comprises a material taking surface and a material receiving surface, wherein the material taking surface and the material receiving surface are provided with a plurality of vacuum suckers.
Furthermore, the pick-and-place mechanism further comprises a buffer block, a buffer and a fixed stop block, wherein the buffer block and the fixed stop block are arranged on the buffer block, and the buffer block is arranged at a position, close to the driven shaft, of the fixed seat and connected with the vacuum plate.
Furthermore, the pick-and-place mechanism further comprises a bearing gland, and the bearing gland is arranged at a position, close to the driven shaft, of the fixed seat and connected with the output shaft of the turnover driver.
Further, the soft particles are rubber particles.
Furthermore, the periphery of the workbench and the rack of the engraving and milling machine is provided with a water baffle.
Furthermore, the X-axis linear carriage comprises a base body slidably disposed on the worktable and a vertical arm upwardly protruding from the base body, the X-axis driver is connected to the base body and the worktable, the Z-axis linear carriage is slidably disposed on the vertical arm, and the Z-axis driver is connected to the Z-axis linear carriage and the vertical arm.
Furthermore, the X-axis driver is a stepping motor and drives the X-axis linear sliding frame to slide through at least one of chain transmission, belt transmission, gear and rack transmission and screw and nut transmission; the Y-axis driver is a stepping motor and drives the Y-axis linear sliding frame to slide through at least one of chain transmission, belt transmission, gear and rack transmission and screw and nut transmission; the Z-axis driver is a stepping motor and drives the Z-axis linear sliding frame to slide through at least one of chain transmission, belt transmission, gear and rack transmission and screw and nut transmission.
Further, the overturning driver drives the overturning seat to overturn around the pivot shaft through chain transmission, belt transmission, gear transmission or gear and rack transmission.
Furthermore, the axial direction of the pivot shaft is arranged along the Y-axis direction, the overturning driver is an air cylinder, a linear rack arranged along the Z-axis direction is installed at the output end of the air cylinder, and a driven gear in meshing transmission with the linear rack is installed on the pivot shaft.
The utility model discloses beneficial effect:
1. the double-head precise engraving machine externally-hung manipulator is further optimized, the taking and placing mechanism is a double-working-surface taking and placing mechanism, and comprises a material taking surface and a material receiving surface, wherein the material taking surface and the material receiving surface are respectively provided with a plurality of vacuum suckers; glass loading and unloading mode-reduced from 35 seconds to 26 seconds.
2. The positioning mechanism comprises a positioning platform, a sliding positioning seat, a reference block, a positioning cylinder and a spring positioning block; the positioning cylinder drives the sliding positioning seat to move forward or backward so that the spring positioning block is close to and aligned with the reference block, the sliding positioning seats are respectively arranged on two adjacent and vertical side edges of the positioning platform, and the reference blocks are respectively arranged on the other two adjacent and vertical side edges of the positioning platform; each sliding positioning seat corresponds to one positioning cylinder, and each sliding positioning seat is connected with the output end of the corresponding positioning cylinder; the original fixed block positioning is changed into the spring positioning block positioning; the glass damage caused by hard impact on the glass during positioning and the defects caused by impact damage on the glass are reduced, so that the glass cannot be neatly drawn together, aligned and positioned, and the subsequent work is influenced.
3. The positioning platform is provided with an upward bulge used for providing a bearing for the to-be-processed product and keeping a horizontal placement fixture, and the fixture is provided with a plurality of soft particles. The glass placing/positioning device is characterized in that a plurality of colloid particles are additionally arranged on a tool (platform) to be processed for placing/positioning glass, and the plurality of colloid particles are used for supporting the glass, so that the glass is not in contact with the glass by the conventional metal material, the risk of scratching the surface of the glass is reduced, and the scratching risk in the process of positioning and closing is reduced.
4. Add the breakwater on the board to and add the breakwater in material frame position, through increasing the breakwater, prevent that liquid from permeating the track and material frame in the equipment processing, reduce the equipment risk.
To more clearly illustrate the structural features and effects of the present invention, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
Drawings
Fig. 1 is a schematic perspective view of an external manipulator of the double-head engraving and milling machine of the present invention;
fig. 2 is a schematic top view of the external manipulator of the double-head engraving and milling machine of the present invention;
fig. 3 is a schematic side view of the external manipulator of the double-head engraving and milling machine of the present invention;
fig. 4 is a schematic side view of the external manipulator of the double-head engraving and milling machine of the present invention;
fig. 5 is a schematic perspective view of the external manipulator pick-and-place mechanism 70 of the double-head engraving and milling machine of the present invention,
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 to 5, in the embodiment, a double-head external manipulator for precision engraving is provided, and is disposed on a worktable of a precision engraving machine, and the worktable provides a supporting function for the external manipulator 100; specifically, the material racks 220 of the engraving and milling machine are all arranged on the workbench, the material racks 220 are two and are spaced from each other along the X-axis direction and are arranged on the workbench 210, two clamping rods 220a are installed at the tops of the left side and the right side of each material rack 220, two clamping rods 220a are also installed at the bottoms of the left side and the right side of each material rack 220, and each clamping rod 220a has a plurality of clamping tooth positions spaced from each other, so that each clamping tooth position is used for clamping one glass. The number of the stacks 220 is not limited to one, and a plurality of the stacks can be arranged according to actual needs.
Specifically, this embodiment provides outer string of manipulator of double-end cnc engraving and milling machine, includes:
the X-axis linear sliding frame 10 is arranged on the workbench in a sliding manner;
an X-axis driver 20 connected to the X-axis linear carriage 10 and the worktable and driving the X-axis linear carriage 10 to slide;
a Z-axis linear carriage 30 slidably disposed on the X-axis linear carriage 10;
a Z-axis driver 40 connected to the Z-axis linear carriage 30 and the X-axis linear carriage 10 and driving the Z-axis linear carriage 30 to slide;
a Y-axis linear carriage 50 slidably provided on the Z-axis linear carriage 30;
a Y-axis driver 60 connected to the Y-axis linear carriage and the Z-axis linear carriage 30 and driving the Y-axis linear carriage 50 to slide;
a flipping base 81 which is pivoted with the Z-axis linear carriage 30 by a pivot shaft 82 and has at least a positioning position and an avoiding position relative to the Z-axis linear carriage 30;
the overturning driver 83 is arranged on the Z-axis linear sliding frame 30 and drives the overturning seat 81 to switch between a positioning position and an avoiding position;
the positioning mechanism 90 is arranged on the overturning seat 81 and switches between a positioning position and an avoiding position along with the overturning seat 81, and when the positioning mechanism 90 is at the positioning position, the positioning mechanism is positioned below the pick-and-place mechanism 70 correspondingly;
the pick and place mechanism 70 is a double-working-surface pick and place mechanism, which comprises a pick surface and a receiving surface, wherein the pick surface and the receiving surface are both provided with a plurality of vacuum suction cups 79; and
referring to fig. 2, the positioning mechanism 90 includes a positioning platform 91, a sliding positioning seat 92, a reference block 93, a positioning cylinder 94, and a spring positioning block 95; the spring positioning block 95 is arranged on the sliding positioning seat 92, the positioning cylinder 94 drives the sliding positioning seat 92 to move forward or backward so that the spring positioning block 95 is aligned with the reference block 93, the sliding positioning seats 92 are respectively arranged on two adjacent and vertical side edges of the positioning platform 91, and the reference blocks 93 are respectively arranged on the other two adjacent and vertical side edges of the positioning platform 91; each sliding positioning seat 92 corresponds to one positioning cylinder 94, and each sliding positioning seat 92 is connected with the output end of the corresponding positioning cylinder 94; the original positioning that only the sliding positioning seat 92 is closed is changed into the positioning of the spring positioning block 95; the glass damage caused by hard impact on the glass during positioning and the defects caused by impact damage on the glass are reduced, so that the glass cannot be neatly drawn together, aligned and positioned, and the subsequent work is influenced.
Wherein, the positioning platform 91 is provided with a jig 96 which protrudes upwards and is used for supporting the article to be processed and keeping the article to be processed horizontally, and the jig 96 is provided with a plurality of soft particles 97. Utilize this soft granule 97 bearing glass, not contacting glass with past metal material, reduce the risk of scratching the glass surface to and the risk of scratching of the process of drawing close in location.
Referring to fig. 5, the pick and place mechanism 70 includes:
the taking and placing overturning driver 71 is connected with a gear 73 on a driven shaft 75 penetrating through the fixed seat 74 through a gear 73 on an output shaft 72 of the taking and placing overturning driver 71, and the components connected to the driven shaft 85 are overturned under the driving of the taking and placing overturning driver 71;
a permanent seat connecting plate 76, wherein the permanent seat connecting plate 76 is arranged on the permanent seat 74, and the permanent seat connecting plate 76 is also connected with the Y-axis connecting plate 77;
a Y-axis connection plate 77, the Y-axis connection plate 77 being provided to the Y-axis linear carriage 50;
the vacuum plate 78 is disposed on an end of the driven shaft 75 away from the pick-and-place flipping driver 71, and the vacuum plate 78 includes a pick-up surface and a receiving surface, wherein the pick-up surface and the receiving surface each have a plurality of vacuum suction cups 79.
The pick and place mechanism 70 further includes a buffer block 710, and a buffer 711 and a fixed stopper 712 disposed on the buffer block 710, wherein the buffer block 710 is disposed at a position where the fixed base 74 is connected to the vacuum plate 78 near the driven shaft 75. And a bearing gland 713, wherein the bearing gland 713 is arranged at a position, close to the driven shaft 75, of the fixed seat 74, and is connected with the output shaft 72 of the turnover driver 71.
Referring to fig. 1, in the double-head engraving and milling machine external manipulator of the embodiment, the X-axis linear carriage includes a base 11 slidably disposed on the worktable and a vertical arm 12 upwardly protruding from the base 11, the X-axis driver 20 is connected to the base 11 and the worktable, the Z-axis linear carriage 30 is slidably disposed on the vertical arm 12, and the Z-axis driver 40 is connected to the Z-axis linear carriage 30 and the vertical arm 12. The turning driver 83 is mounted on the upright arm 12, the turning driver 83 on the upright arm 12 and the Z-axis linear carriage 30 are arranged on different sides, preferably, the turning driver 83 and the Z-axis linear carriage 30 are respectively located on two adjacent sides of the upright arm 12, so as to provide a sufficient moving space for turning the turning seat 81 and the positioning mechanism 90 by means of the upright arm 12, and simultaneously provide a sufficient moving space for the reciprocating sliding of the Z-axis linear carriage 30 along the Z-axis direction and the reciprocating sliding of the Y-axis linear carriage 40 along the Y-axis direction.
In the double-head engraving and milling external mechanical hand of the embodiment, the X-axis driver 20 is a stepping motor and drives the X-axis linear sliding frame 10 to slide through at least one of chain transmission, belt transmission, rack-and-pinion transmission and screw nut transmission; the Y-axis driver 60 is a stepping motor and drives the Y-axis linear carriage 50 to slide through at least one of chain transmission, belt transmission, rack-and-pinion transmission, and screw nut transmission; the Z-axis driver 40 is a stepping motor and drives the Z-axis linear carriage 30 to slide through at least one of chain transmission, belt transmission, rack-and-pinion transmission, and screw nut transmission. Chain transmission refers to a transmission mode formed by combining a chain wheel and a chain, belt transmission refers to a transmission mode formed by combining a belt wheel and a belt, gear transmission refers to a transmission mode formed by combining at least two gears, and screw rod and nut transmission refers to a transmission mode formed by combining a screw rod and a nut; the rack-and-pinion transmission refers to a transmission mode combining a gear and a rack, but the transmission mode is well known in the art and is not described in detail herein.
In the double-head engraving and milling external manipulator of the embodiment, the turning driver 83 drives the turning seat 81 to turn around the pivot shaft 82 through gear and rack transmission. So that the turnover driver 83 can more reliably drive the turnover seat 81 to switch between the positioning position and the avoiding position; of course, the tilting drive 83 can also drive the tilting seat 81 to tilt about the pivot shaft 82 by means of a chain drive, a belt drive or a gear drive, according to the actual requirements.
The axial direction of pivotal shaft 82 is arranged along the Y-axis direction, the overturning driver 83 is an air cylinder, the output end of the air cylinder is arranged downwards, the output end of the air cylinder is provided with a linear rack 84 arranged along the Z-axis direction, the pivotal shaft 82 is provided with a driven gear 85 in meshing transmission with the linear rack 84, so that the linear motion of the air cylinder is converted into the overturning motion of the overturning seat 81 around the pivotal shaft 82 by means of the matching of the linear rack 84 and the driven gear 85, and the overturning seat 81 is switched between the positioning position and the avoiding position more quickly by means of two polar positions of the air cylinder.
This external string manipulator of double-end cnc engraving and milling, its theory of operation as follows: the picking and placing mechanism 70 is driven by the X-axis mechanism, the Y-axis mechanism and the Z-axis mechanism to enable the vacuum chuck 79 in the picking and placing mechanism 70 to slide to the position of the workbench material rack 220; at this time, the pick-up and take-up rotary driver 71 in the pick-and-place mechanism 70 drives the vacuum chuck 79 to turn over to the vertical position through the vacuum plate 78; then, the taking and placing mechanism 70 takes out and lifts the glass at the material rack 220 under the driving coordination of the X-axis mechanism, the Y-axis mechanism and the Z-axis mechanism; when the pick-and-place mechanism 70 is lifted to enable the glass to be positioned above the positioning mechanism 90, the turnover driver 83 drives the turnover seat 81 to be turned over to the positioning position together with the positioning mechanism 90, so that the positioning mechanism 90 is positioned below the glass conveyed by the pick-and-place mechanism 70, and the positioning cylinder 94 in the positioning mechanism 90 is positioned at the initial position, so that the glass can be conveniently placed on the positioning platform 91; next, the taking and taking rotary driver 71 in the taking and placing mechanism 70 drives the vacuum chuck 79 to turn over to the horizontal position through the vacuum plate 78, and under the matching of the driving of the shaft and Z-axis mechanisms, the glass adsorbed by the vacuum chuck 79 is placed on the positioning platform 91; at the moment, the positioning cylinder 94 works, and the positioning cylinder 94 drives the sliding positioning seat 92 to move forward or backward so that the spring positioning block 95 is close to and aligned with the reference block 93, so that the glass on the positioning platform 91 is positioned; after the positioning is completed, the vacuum chuck 79 sucks the glass and drives the glass to rise, and the positioning mechanism 90 returns to the initial state; then, the vacuum chuck 79 of the pick-and-place mechanism 70 moves to the upper part of the vacuum adsorption jig and then descends under the driving coordination of the X-axis mechanism, the Y-axis mechanism and the Z-axis mechanism, so that the glass accurately falls on the vacuum adsorption jig; next, vacuum chuck 79 is in the X axle, the Y axle, under the cooperation of Z axle mechanism drive, reset the top of work or material rest 220, when vacuum chuck 79 resets, glass begins to be processed on the vacuum adsorption tool, at this moment, vacuum chuck 79 carries out the absorption glass of new round to the second vacuum adsorption tool on, glass on the first vacuum adsorption tool has been processed, then receive material face vacuum chuck 79 in the mechanism 70 of getting and putting is in the X axle, the Y axle, under the cooperation of Z axle mechanism drive, begin to receive the material, vacuum chuck 79 absorbs glass on the first vacuum adsorption tool and puts into finished product district work or material rest 220 with glass. Except that when the first glass is processed on the adsorption jig, the material receiving surface vacuum chuck in the taking and placing mechanism 70 is in a wheel space, the second glass is processed on the adsorption jig, the taking and placing mechanism 70 drops the second glass on the adsorption jig, the taking and placing mechanism 70 is turned over, the material receiving surface vacuum chuck takes the processed first glass away, the processed first glass leaves and is transferred to the finished product area material rack 220, and by analogy, the steps of material taking (raw material area), positioning (positioning mechanism), positioning and taking away, transferring, material discharging (adsorption jig) and material taking transferring are repeated.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way. The invention is not limited to the embodiments described herein, but is capable of other embodiments with obvious modifications and variations, including those shown in the drawings and described herein. Therefore, the equivalent changes made according to the shape, structure and principle of the present invention should be covered in the protection scope of the present invention.
Claims (10)
1. The utility model provides an outer string manipulator of double-end cnc engraving and milling machine, locates on the workstation of cnc engraving and milling machine, outer string manipulator includes:
the X-axis linear sliding frame is arranged on the workbench in a sliding manner;
the X-axis driver is connected with the X-axis linear sliding frame and the workbench and drives the X-axis linear sliding frame to slide;
the Z-axis linear sliding frame is arranged on the X-axis linear sliding frame in a sliding manner;
the Z-axis driver is connected with the Z-axis linear sliding frame and the X-axis linear sliding frame and drives the Z-axis linear sliding frame to slide;
the Y-axis linear sliding frame is arranged on the Z-axis linear sliding frame in a sliding manner;
the Y-axis driver is connected with the Y-axis linear sliding frame and the Z-axis linear sliding frame and drives the Y-axis linear sliding frame to slide;
the pick-and-place mechanism is arranged on the Y-axis linear sliding frame;
the turnover seat is pivoted with the Z-axis linear sliding frame by virtue of a pivot shaft and at least has a positioning position and an avoiding position relative to the Z-axis linear sliding frame;
the overturning driver is arranged on the Z-axis linear sliding frame and drives the overturning seat to switch between a positioning position and an avoiding position;
the positioning mechanism is arranged on the overturning seat and switches between a positioning position and an avoiding position along with the overturning seat, and the positioning mechanism is positioned below the pick-and-place mechanism correspondingly when positioned at the positioning position;
the device is characterized in that the picking and placing mechanism is a double-working-surface picking and placing mechanism and comprises a picking surface and a receiving surface, wherein the picking surface and the receiving surface are both provided with a plurality of vacuum suckers; and
the positioning mechanism comprises a positioning platform, a sliding positioning seat, a reference block, a positioning cylinder and a spring positioning block; the positioning cylinder drives the sliding positioning seat to move forward or backward so that the spring positioning block is close to and aligned with the reference block, the sliding positioning seats are respectively arranged on two adjacent and vertical side edges of the positioning platform, and the reference blocks are respectively arranged on the other two adjacent and vertical side edges of the positioning platform; each sliding positioning seat corresponds to one positioning cylinder, and each sliding positioning seat is connected with the output end of the corresponding positioning cylinder; wherein, the positioning platform is provided with an upward bulge used for providing a bearing for the article to be processed and keeping a fixture horizontally placed, and the fixture is provided with a plurality of soft particles.
2. The double-ended cnc engraving and milling external manipulator of claim 1, wherein the pick and place mechanism includes:
the taking, placing and overturning driver is mutually connected with a gear on a driven shaft penetrating through the inside of the fixed seat through a gear on an output shaft of the taking, placing and overturning driver, and the assembly connected to the driven shaft is overturned under the driving of the taking, placing and overturning driver;
the fixing seat connecting plate is arranged on the fixing seat and is also connected with the Y-axis connecting plate;
the Y-axis connecting plate is arranged on the Y-axis linear sliding frame;
the vacuum plate is arranged on one end, far away from the taking, placing and overturning driver, of the driven shaft, and comprises a material taking surface and a material receiving surface, wherein the material taking surface and the material receiving surface are provided with a plurality of vacuum suckers.
3. The double-ended off-board manipulator of claim 1, wherein the pick-and-place mechanism further comprises a buffer block, and a buffer and a fixed stop block arranged on the buffer block, and the buffer block is arranged on the fixed base near the position where the driven shaft is connected with the vacuum plate.
4. The double-ended off-board manipulator of claim 1, wherein the pick-and-place mechanism further comprises a bearing gland disposed at a position where the fixed base is connected to the output shaft of the turning actuator near the driven shaft.
5. The double-ended cnc engraving and milling external manipulator of claim 1, wherein the soft particles are rubber particles.
6. The double-end off-board manipulator of claim 1, wherein water baffles are arranged on the periphery of the work bench and the periphery of the material rack of the engraving and milling machine.
7. The double-ended off-board manipulator according to claim 1, wherein the X-axis linear carriage comprises a base slidably mounted on the table and a vertical arm upwardly protruding from the base, the X-axis driver is connected to the base and the table, the Z-axis linear carriage is slidably mounted on the vertical arm, and the Z-axis driver is connected to the Z-axis linear carriage and the vertical arm.
8. The double-ended engraving and milling machine external manipulator according to claim 1, wherein the X-axis driver is a stepping motor and drives the X-axis linear carriage to slide through at least one of chain transmission, belt transmission, rack-and-pinion transmission and screw nut transmission; the Y-axis driver is a stepping motor and drives the Y-axis linear sliding frame to slide through at least one of chain transmission, belt transmission, gear and rack transmission and screw and nut transmission; the Z-axis driver is a stepping motor and drives the Z-axis linear sliding frame to slide through at least one of chain transmission, belt transmission, gear and rack transmission and screw and nut transmission.
9. The double-ended engraving and milling robot of claim 1, wherein the turning driver drives the turning base to turn around the pivot shaft through chain transmission, belt transmission, gear transmission or rack and pinion transmission.
10. The double-end cnc engraving and milling external mechanical hand of claim 9, wherein the axial of pivotal axis is arranged along the Y-axis direction, the turning driver is a cylinder, the output end of the cylinder is installed with a linear rack arranged along the Z-axis direction, and the pivotal axis is installed with a driven gear in meshing transmission with the linear rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921586439.1U CN210999500U (en) | 2019-09-23 | 2019-09-23 | Double-end cnc engraving and milling machine externally-mounted manipulator |
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| CN201921586439.1U CN210999500U (en) | 2019-09-23 | 2019-09-23 | Double-end cnc engraving and milling machine externally-mounted manipulator |
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